A three-dimensional data encoding method of encoding three-dimensional points includes: calculating a predicted value of attribute information of a first three-dimensional point in a prediction mode, using one or more items of attribute information of one or more second three-dimensional points in the vicinity of the first three-dimensional point; calculating a prediction residual that is a difference between the attribute information of the first three-dimensional point and the predicted value; and generating a bitstream including the prediction residual and prediction mode information indicating the prediction mode. The prediction mode is: one prediction mode among two or more prediction modes when a type of the attribute information of the first three-dimensional point is first attribute information including elements more than a predetermined threshold value; and one fixed prediction mode when the type is second attribute information including elements equal to or less than the predetermined threshold value.

A decoding method includes: calculating a first position on a polar coordinate system, using a first residual generated by predicting a position of a first three-dimensional point on the polar coordinate system; calculating a second position by transforming the polar coordinate system of the first position into a Cartesian coordinate system; decoding the position of the first three-dimensional point on the Cartesian coordinate system by adjusting the second position using a second residual of the Cartesian coordinate system; and decoding attribute information of the first three-dimensional point, using the first position before the transforming.

A decoding method includes: calculating a first position on a polar coordinate system, using a first residual generated by predicting a position of a first three-dimensional point on the polar coordinate system; calculating a second position by transforming the polar coordinate system of the first position into a Cartesian coordinate system; decoding the position of the first three-dimensional point on the Cartesian coordinate system by adjusting the second position using a second residual of the Cartesian coordinate system; and decoding attribute information of the first three-dimensional point, using the first position before the transforming.

Example video data processing methods and apparatus are disclosed. One example method includes receiving a first stream from a client, where the first bitstream is obtained by encoding image data in a specified spatial object. The specified spatial object is part of panoramic space, and a size of the specified spatial object is larger than a size of a spatial object of the panoramic space corresponding to viewport information. The spatial object corresponding to the viewport information is located in the specified spatial object. The client receives a second stream, where the second bitstream is obtained by encoding image data of a panoramic image of the panoramic space with a lower resolution than a resolution of the image data included in the specified spatial object. The client plays the second bitstream and first bitstream.

Example video data processing methods and apparatus are disclosed. One example method includes receiving a first stream from a client, where the first bitstream is obtained by encoding image data in a specified spatial object. The specified spatial object is part of panoramic space, and a size of the specified spatial object is larger than a size of a spatial object of the panoramic space corresponding to viewport information. The spatial object corresponding to the viewport information is located in the specified spatial object. The client receives a second stream, where the second bitstream is obtained by encoding image data of a panoramic image of the panoramic space with a lower resolution than a resolution of the image data included in the specified spatial object. The client plays the second bitstream and first bitstream.

The residual signal encoding and decoding method and apparatus based on a periodicity on phase signal are disclosed. One embodiment on a method for decoding an image, the method comprising: generating a prediction signal for a current signal, decoding an encoded residual signal from a bitstream, generating an initial reconstructed signal based on the prediction signal and the residual signal, and generating a transformed reconstructed signal by transforming a value of the initial reconstructed signal to have a size value of a preset range, wherein the generating of the transformed reconstructed signal generates the transformed reconstructed signal from the value of the initial reconstructed signal by using a clipping function with a minimum value of the preset range and a maximum value of the preset range as input values, and wherein the preset range is a period range of a signal.

The residual signal encoding and decoding method and apparatus based on a periodicity on phase signal are disclosed. One embodiment on a method for decoding an image, the method comprising: generating a prediction signal for a current signal, decoding an encoded residual signal from a bitstream, generating an initial reconstructed signal based on the prediction signal and the residual signal, and generating a transformed reconstructed signal by transforming a value of the initial reconstructed signal to have a size value of a preset range, wherein the generating of the transformed reconstructed signal generates the transformed reconstructed signal from the value of the initial reconstructed signal by using a clipping function with a minimum value of the preset range and a maximum value of the preset range as input values, and wherein the preset range is a period range of a signal.

A method of detecting at least one traffic lane and/or a roadway marking in at least one digital image representation based on sensor data obtained from at least one environmental sensor of a system. The method includes: a) obtaining a plurality of digital image representations each containing a plurality of features representing the respective image content, b) applying a bird's eye view transformation to the obtained digital image representations, wherein each of the digital image representations is transformed separately so as to create transformed digital image representations, c) performing a consolidation of the transformed digital image representations to obtain a consolidated digital image representation.

A method of detecting at least one traffic lane and/or a roadway marking in at least one digital image representation based on sensor data obtained from at least one environmental sensor of a system. The method includes: a) obtaining a plurality of digital image representations each containing a plurality of features representing the respective image content, b) applying a bird's eye view transformation to the obtained digital image representations, wherein each of the digital image representations is transformed separately so as to create transformed digital image representations, c) performing a consolidation of the transformed digital image representations to obtain a consolidated digital image representation.

In one embodiment, the disclosure provides a computer-implemented method for Progressive Subsampled Transmission of image data. In one embodiment, a source computer may: generate a first down-sampled frame by sampling an input image according to a first sampling pattern; generate a first encoded down-sampled frame; transmit the first encoded down-sampled frame to a recipient device to cause the recipient device to display/use a first output frame generated by decoding and up-sampling the first encoded down-sampled frame; generate a second down-sampled frame by sampling the input image according to a second sampling pattern; generate a second encoded down-sampled frame; and transmit the second encoded down-sampled frame to the recipient device to cause the recipient device to display/use a second output frame generated based on the first encoded down-sampled frame and the second encoded down-sampled frame and in accordance with the first sampling pattern and the second sampling pattern.